Task preservation of multi-degree-of-freedom motion using interaction mode control

Seiichiro Katsura, Kiyoshi Ohishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Recently, skill preservation of an expert and skill training have been a serious problem of the medical or production fields. This paper proposes a task preservation and reproduction of multi-degree-of-freedom motion using interaction mode control based on bilateral motion control. The proposed task preservation system is composed of two modes; acquisition mode and reproduction mode. In the acquisition mode, the control system is based on bilateral control. Since a touching motion is subject to the "law of action and reaction", it is possible to decompose force information into action force and reaction force by using the bilateral control. Furthermore, human motion is acquired in decoupled modal space by using the mode quarry matrix. The decoupled modes correspond to "moving", "yawing", "grasping" tasks, and so on. Thus the multi-degree-of-freedom motion by a human is easily obtained and analyzed in the modal space. In the reproduction mode, the acquired human motion is reproduced in the modal space by using the interaction mode control. The proposed task preservation system is applied for grasping motion by three fingers. The experimental results show viability of the proposed method.

本文言語English
ホスト出版物のタイトルEPE-PEMC 2006
ホスト出版物のサブタイトル12th International Power Electronics and Motion Control Conference, Proceedings
ページ506-512
ページ数7
DOI
出版ステータスPublished - 2007
外部発表はい
イベントEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference - Portoroz, Slovenia
継続期間: 2006 8 302006 9 1

出版物シリーズ

名前EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings

Other

OtherEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference
国/地域Slovenia
CityPortoroz
Period06/8/3006/9/1

ASJC Scopus subject areas

  • 電子工学および電気工学

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